/*声明：如果您觉得这篇文章的格式看着很累，那要怪就怪CSDN太挫了，这种下三滥水平的博客编辑器也就CSDN做的出来：在Firefox下，跟本无法设置字体大小，段落格式...以至于每次都要用IE重新打开编辑若干次*/

 

/*二次声明：如果您觉得这篇文章格式看上去很舒服，那就是我很NB：用这么差的编辑器都能写出这么整齐的文章，我也忒NB了不是？*/

 

Linux下有很多好用的软件，但更多的是不好用的软件。比如不好用到跟CSDN的博客有一拼的软件：gazebo。就算我已经对安装过程非常熟练了，但是依然需要一整天的时间来装完它。因为它依赖的包太多。

同Player/Stage一样，Gazebo也是由University of South California开发的。作为一个3D仿真软件，gazebo 0.8 pre-release 版依赖于ODE 以及OGRE 来模拟具有真实世界中的物理参数的物体的运动状态。与之类似的还有由University of Pittsburg开发的USARSim 软件，前者基于开源3D图像引擎OGRE；后者基于游戏引擎Unreal Tournament .

 

安装gazebo需要的dependencies请参考[1]。（并不是全部包的列表）

它要求独立显支持。所以在此之前需要安装显卡的驱动。Nvidia的显卡还要装Cg-toolkit

运行glxinfo |grep render

命令，得到的结果应该为：Yes

 

1. 首先检查系统的内核版本以及gcc和g++版本：

root@ubuntu:~# uname -a
Linux ubuntu 2.6.27-7-generic #1 SMP Fri Oct 24 06:40:41 UTC 2008 x86_64 GNU/Linux
root@ubuntu:~# gcc --version
gcc-4.3.real (Ubuntu 4.3.2-1ubuntu12) 4.3.2
root@ubuntu:~# g++ --version
gcc-4.3.real (Ubuntu 4.3.2-1ubuntu12) 4.3.2
2. 设置环境变量 Environment Variables:
export PATH=/usr/local/bin:$PATH
export CPATH=/usr/local/include:$CPATH
export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
3. 安装所需的包

包括：fltk zziplib FreeImage, ois, scons
root@ubuntu:/host# apt-get install libfltk 1.1 -dev libzzip-dev libfreeimage3 libfreeimage-dev libois-dev scons
4. 安装OGRE-1.4.9 及 CEGUI-0.6.2
SVN版的gazebo需要OGRE1.6.*;这里需要的是1.4.9.我用的是Ogre-1.4.9的svn包：

root@ubuntu:/host# svn co https://svn.ogre3d.org/svnroot/ogre/branches/v1-4 ogre
root@ubuntu:/host# cd ogre
root@ubuntu:/host/ogre# ./bootstrap
root@ubuntu:/host/ogre# ./configure

checking build system type... x86_64-unknown-linux-gnu
checking host system type... x86_64-unknown-linux-gnu
checking target system type... x86_64-unknown-linux-gnu
checking for a BSD-compatible install... /usr/bin/install -c
...
checking for Cppunit - version >= 1.10.0... checking for pkg-config... /usr/bin/pkg-config
checking pkg-config is at least version 0.9.0... yes
checking for ZZIPLIB... yes
checking X11/Intrinsic.h usability... yes
checking X11/Intrinsic.h presence... yes
checking for X11/Intrinsic.h... yes
checking X11/Xaw/Command.h usability... no checking X11/Xaw/Command.h presence... no checking for X11/Xaw/Command.h... no configure: error: "libxaw headers not found"

configure: error: "libxf86vm headers not found"

如上所述，[1]中没有给全所有的依赖包，所以缺啥装啥：

root@ubuntu:/host# atp-get install libxaw7-dev libxxf86vm1-dev

装完发现没有CEGUI支持。。。
--------=== Configuration summary ===-------- Target platform : GLX OpenGL Ogre support : GLX GUI library to use : Xt Use double precision arithmetic : no Support for threading : no Memory allocator : ned Use STLport : no Use FreeType : yes Use FreeImage : yes Use DevIL : no Build OGRE demos : yes Build CEGUI demos : false Build the OpenEXR plugin : no Build the Cg plugin : yes Build the DirectX 9 plugin : no --------===============================--------
到官网下载 CEGUI（0.6.2）源码包:

http://sourceforge.net/project/downloading.php?groupname=crayzedsgui&filename=CEGUI-0.6.2b.tar.gz&use_mirror=superb-east

解压：
root@ubuntu:/host# tar zxvf CEGUI-0.6.2b.tar.gz
root@ubuntu:/host# cd CEGUI-0.6.2
root@ubuntu:/host/CEGUI-0.6.2# ./bootstrap
root@ubuntu:/host/CEGUI-0.6.2#  ./configure
******************************************************************************** * Crazy Eddie's GUI System - Configuration Results Summary ******************************************************************************** * Library Release Version: 0.6.2 * * Code options: * Building CEGUI in debug mode: no * * Renderer Modules: * Building OpenGL Renderer: yes * Using external GLEW library: no * Building Irrlicht Renderer: no * Building DirectFB Renderer: no * * Image Loading Codec Modules (OpenGL and DirectFB Renderers only): * Building Corona Image Codec: no * Building DevIL Image Codec: yes * Building FreeImage Image Codec: yes * Building SILLY Image Codec: no * Building TGA Image Codec: yes * * Default Image Codec will be: DevILImageCodec * * XML Parser Modules: * Building TinyXMLParser: yes * Using external TinyXML library: no * Building ExpatParser: yes * Building LibXMLParser: no * Building XercesParser: yes * * Default XML Parser is: XercesParser * * Scripting: * Building Lua scripting module: no * Building tolua++cegui generator: no * * Samples Framework: * Building Samples: yes * GTK2 based dialog for renderer selection: no * OpenGL Renderer available in samples: yes * Irrlicht Renderer available in samples: no * DirectFB Renderer available in samples: no * Ogre3D Renderer available in samples: no ******************************************************************************** Now you can do make && make install. Good Luck！

看来依然需要很多东西：

root@ubuntu:/host/CEGUI-0.6.2# apt-get install libglew1.5-dev libcario-directfb2-dev libgtk-drectfb-dev
root@ubuntu:/host/CEGUI-0.6.2# ./configure directfb-renderer.cpp: In member function ‘void CEGUI::DirectfbRenderer::sortQuads()’: directfb-renderer.cpp:264: error: ‘stable_sort’ is not a member of ‘std’ make[2]: *** [directfb-renderer.lo] Error 1 make[2]: Leaving directory `/host/CEGUI-0.6.2/RendererModules/directfbRenderer' make[1]: *** [all-recursive] Error 1 make[1]: Leaving directory `/host/CEGUI-0.6.2/RendererModules' make: *** [all-recursive] Error 1
参考[2], 在"/host/CEGUI-0.6.2/RendererModules/directfbRenderer/directfb-render.cpp" 中添加头文件：

root@ubuntu:/host/CEGUI-0.6.2# make && make install

 #include<algorithm>

即可安装通过

继续安装OGRE，幸运的话就没什么问题   -_-!

root@ubuntu:/host/CEGUI-0.6.2# cd ../ogre

root@ubuntu:/host/ogre# ./configure

root@ubuntu:/host/ogre# make

root@ubuntu:/host/ogre# make install

6. 安装ODE-0.11.1

Gazebo 0.8要求ODE的版本高于0.10,所以下载0.11.1版，经测试OK：

下载地址为： http://sourceforge.net/project/downloading.php?group_id=24884&filename=ode-0.11.1.tar.bz2

解压并编译 ：

root@ubuntu:/host/ode-0.11.1# tar jxvf /home/ysong/Desktop/ode-0.11.1.tar.bz2 -C /host/

root@ubuntu:/host/ode-0.11.1# cd ode-0.11.1/

root@ubuntu:/host/ode-0.11.1# sh autogen.sh

root@ubuntu:/host/ode-0.11.1# ./configure

root@ubuntu:/host/ode-0.11.1# make

root@ubuntu:/host/ode-0.11.1# make install

（以前编译经常出问题的，这次好像比较顺利）

7.编译Gazebo源码包：

相比gazebo-0.7.0的一大改进除了OGRE的应用之外就是用了SCONS这么一个python工具（0.7.0用的是wxPython），这个东西还是比autotools好用。有篇对scons的简介[4]，写的很明了。详细的介绍参考[5].

root@ubuntu:/host/gazebo-0.8-pre3# scons scons: Reading SConscript files ... detected CPU atributes: -mmmx -msse -msse2 -msse3 Checking for [pkg-config --cflags --libs OGRE] Success Checking for [xml2-config --cflags --libs] /bin/sh: xml2-config: not found Unable to parse config [xml2-config --cflags --libs] libxml2 and development files are required, but not found. http://www.xmlsoft.org

（缺啥装啥。原则：先用apt-get或者yum，不行再从源码包装）

root@ubuntu:/host/gazebo-0.8-pre3# apt-get install libxml++2.6-2-dev

 

再次编译时又出现了关于StatusBar.cc中有错；原因还是少引了一个头文件<cstring>:

root@ubuntu:/host/gazebo-0.8-pre3# vim server/gui/StatusBar.cc

添加：

#include <cstring>
然后继续scons

root@ubuntu:/host/gazebo-0.8-pre3# scons /usr/bin/ld.real: /usr/local/lib/libode.a(box.o): relocation R_X86_64_32 against `a local symbol' can not be used when making a shared object; recompile with -fPIC /usr/local/lib/libode.a: could not read symbols: Bad value collect2: ld returned 1 exit status scons: *** [libgazeboServer.so] Error 1 scons: building terminated because of errors.

我相信多数人会遇到关于libode.a的错误：

"/usr/local/lib/libode.a: could not read symbols: Bad Value"

这个错误真是太TM经典了！

解决方案：

root@ubuntu:/host/gazebo-0.8-pre3# apt-get install libode0debian1 libode0-dev

root@ubuntu:/host/gazebo-0.8-pre3# cp /usr/lib/libode.a /usr/local/lib/libode.a

(就是从/usr/lib下复制好的libode.a到/usr/local/lib/)

这个错误解决后安装就应该很顺利了：

root@ubuntu:/host/gazebo-0.8-pre3# scons

scons: Reading SConscript files ... detected CPU atributes: -mmmx -msse -msse2 -msse3 Checking for [pkg-config --cflags --libs OGRE] Success Checking for [xml2-config --cflags --libs] Success Checking for [ode-config --cflags --libs] Success Checking for [fltk-config --cflags --libs --ldflags --use-gl --use-images] Success Checking for [pkg-config --cflags --libs xft] Success Checking for C++ library ltdl... yes Checking for C header file ode/ode.h... yes Checking for ODE...yes libgazebo server player Checking for [pkg-config --cflags --libs playerc++] Success scons: done reading SConscript files. scons: Building targets ...

root@ubuntu:/host/gazebo-0.8-pre3# scons install scons: Reading SConscript files ... detected CPU atributes: -mmmx -msse -msse2 -msse3 Checking for [pkg-config --cflags --libs OGRE] Success Checking for [xml2-config --cflags --libs] Success Checking for [ode-config --cflags --libs] Success Checking for [fltk-config --cflags --libs --ldflags --use-gl --use-images] Success Checking for [pkg-config --cflags --libs xft] Success Checking for C++ library ltdl... (cached) yes Checking for C header file ode/ode.h... (cached) yes Checking for ODE...(cached) yes libgazebo server player Checking for [pkg-config --cflags --libs playerc++] Success scons: done reading SConscript files. scons: Building targets ... scons: `install' is up to date. scons: done building targets.

root@ubuntu:/host/gazebo-0.8-pre3# gazebo worlds/test.world

 

 

8. 参考文档：

[1] http://irobotics.org/gazebo08.html

[2] http://www.cegui.org.uk/phpBB2/viewtopic.php?t=3779

[3]  http://www.cegui.org.uk/wiki/index.php/HOWTO:_Obtain_the_library_source_from_subversion

[4] 使用scons软件构建工具

[5] Scons: A Software Construction Tool